EP0680029A1 - System zur Simulation des Umfeldes eines Beobachters, der sich durch dieses Umfeld auf einem bestimmten Fahrweg bewegen kann - Google Patents

System zur Simulation des Umfeldes eines Beobachters, der sich durch dieses Umfeld auf einem bestimmten Fahrweg bewegen kann Download PDF

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Publication number
EP0680029A1
EP0680029A1 EP95201063A EP95201063A EP0680029A1 EP 0680029 A1 EP0680029 A1 EP 0680029A1 EP 95201063 A EP95201063 A EP 95201063A EP 95201063 A EP95201063 A EP 95201063A EP 0680029 A1 EP0680029 A1 EP 0680029A1
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EP
European Patent Office
Prior art keywords
environment
objects
route
observer
dimensional
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP95201063A
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English (en)
French (fr)
Inventor
Aron Wolf Siegel
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Fokker Space and Systems BV
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Fokker Space and Systems BV
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Application filed by Fokker Space and Systems BV filed Critical Fokker Space and Systems BV
Publication of EP0680029A1 publication Critical patent/EP0680029A1/de
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G09B9/05—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles the view from a vehicle being simulated

Definitions

  • the invention relates to a system for simulating the environment of an observer which is able to move through said environment along a predetermined route, comprising:
  • Such systems are known as such and are for instance applied in computer games.
  • the invention is not directed to games, but to systems for simulating a real environment whereby on the one hand a display of this environment true to the original is important, whereas on the other hand the system should have the possibility to temporarily change the environment at least partly by visualizing statical or dynamical objects therein.
  • simulation systems are using in general complete images generated by computers.
  • a database comprising data of the environment to be simulated is built.
  • Even if the environment to be simulated is memorized with high resolution in the database, nevertheless in the ultimately simulated images a lot of details are lost in comparison with the real world.
  • structure colouring can be applied to enhance the sense of reality.
  • Such simulation systems need large memories and very fast operating processors to enable a "real time" simulation.
  • it is proven that such systems are flexible but also very expensive, in the order of tens of millions of guilders.
  • the lack of detail still is a significant disadvantage.
  • a traditional form of simulation is the use of film or video, whereby no or hardly any details are lost.
  • the disadvantage of film or video (memorized on cd-rom, laser disc, or on video tape or film strip, or similar) is the very restrictive interaction possibility. With such simulation systems only the film display speed can be varied, in other words the velocity with which the observer is moving through the environment. There are no possibilities to temporarily change the environment.
  • the object of the invention is now to use film or video information for displaying those parts of the environment which during the simulation do not need to be changed, combined with computer generated movable or non-movable graphic objects which in each simulation session can be different and within a simulation session can be adapted or amended.
  • the invention relates to a combination of both types of simulation training systems, resulting into an interactive system with a very high sense of reality enabling operation in real time.
  • the restriction of the system is that the movement of the observer is bounded to said route. This restricts the application possibilities mainly to vehicles which are moving along railtracks such as a tram, speed tram, metro, and train.
  • R.I.T. simulators Real-time Interactive Traject simulator.
  • the invention now provides a system for simulating the environment of an observer which is able to move through said environment along a predetermined route, comprising:
  • the route is registered on film or video using the third means mentioned under c). Preferably this is done at times at which no other traffic or other moving objects are present in the environment, so that mainly or exclusively statical objects will be registered on the film.
  • a restricted number thereof is essential for the definition of the route, and these essential statical objects are indicated as ROUTE OBJECTS.
  • Typical route objects in rail simulators are signalling posts, sleepers, and overhead wire posts.
  • there are statical objects in the film which are significant for the environment such as buildings, platforms, etc. These objects are indicated by the term ENVIRONMENTAL OBJECTS. Both the route objects as well as the environmental objects are registered on the film or video.
  • the system uses INTERACTIVE OBJECTS in the form of three-dimensional (3D) images of dynamical and statical objects such as vehicles, cyclists, pedestrians, passengers, signalling posts, traffic lights, etc., generated by the fifth means mentioned above under e).
  • 3D three-dimensional
  • the interactive objects are generated by means of computer software.
  • an offline preparation phase is necessary whereby use is made of the fourth means, mentioned above under d), to determine a virtual 3D-space of which the origin of coordinates corresponds with the origin of the real 3D-space which is in a two-dimensional sense registered by the camera.
  • this phase one or more route objects on a film or video frame are measured.
  • the measuring data retrieved from the film of video are compared with the real dimensions of the respective route objects, (for instance using the cadastral surveyed data about this route object) and this comparison provides sufficient data to determine in the virtual 3D-space a reconstructed virtual 3D route object of which the 3D-position in relation to the virtual 3D-origin is determined.
  • This 3D route object is not made visible and therefore consists only in the computer memory. This operation is repeated for several route objects until a sufficient number of virtual 3D route objects is obtained.
  • These measurements are of essential importance for determining the camera position. Some interpolation is possible, but in case in the final product erroneous perspective 2D-images are obtained then that section of the film should be remeasured or measured additionally to obtain the right camera position in the 3D-space.
  • This coordinate system is called the virtual coordinate system and this system is equivalent with the selected coordinate system of the reality (such as a Cartesian coordinate system or a spherical coordinate system), whereby the origins of both systems correspond.
  • the virtual geometrical 3D route reconstruction is not made visible and consists only in the computer memory. All 3D-positions of all 3D route objects and the eventual 3D-environmental objects are absolute in the virtual coordinate system.
  • the 3D recon -camera position in this virtual coordinate system and the 3D f -camera position are identical and correspond to the camera position during the recording of the route.
  • paths of 3D-coordinates are defined for the dynamical interactive objects in the above-described virtual 3D-space, which paths correspond with for instance roads, pavements, footpaths, etc., in the real environment.
  • the dynamical interactive objects such as vehicles, cyclists, dogs, pedestrians, etc., are then able to move with independently programmable velocities and characteristics along said defined paths.
  • it is not necessary to predefine such paths of movement In the extreme case it is sufficient to indicate those positions in the virtual three-dimensional space where the dynamical object is not allowed to be because there is another object present, such as a building, a overhead wiring post or another dynamical object.
  • a (standard) software program takes care of the correct respective 2D-projection of the selected statical interactive objects (signalling objects, traffic lights) and the dynamical interactive objects (vehicles, cyclists, passengers getting in or out, etc.) in the preregistered video or film recording of the route.
  • the 3D route and environmental objects which together form the virtual 3D route reconstruction are not made visible and the film images are available with all their details.
  • Figure 1 illustrates a film or video frame as recorded during the registration of the environment.
  • Figure 2 illustrates a visual image of the recorded environment with superposed therein the 2D-image of a vehicle.
  • Figure 3 illustrates a similar image as figure 2 but at a later moment in time.
  • Figure 4 illustrates an image of the recorded environment with superposed therein the 2D-image of a signalling post.
  • Figure 5 illustrates a perspective schematical view of a practical embodiment of the simulator whereby the system according to the invention is applied.
  • Figure 1 illustrates a film or video frame as recorded during the registration of the environment. Shown is very schematically a railtrack section 10 along which the observer is able to move. At the left-hand side there is a further railtrack section 12 for traffic in the opposite direction. Along the route poles 14a...14n are positioned at regular distances carrying the overhead wire 16. These poles 14a...n are forming the so-called route objects. Furthermore, a building 18 is visible in the figure, which building forms one of the environmental objects. Very schematically furthermore a road 20 parallel to the railtrack section 12 is shown as well as a connecting road 22 which crosses the railtrack section. It will be clear that in reality a lot more environmental objects may be visible on the film, such as further buildings, roads, pavements, street furniture, road markings, etc. For the sake of simplicity only a small part thereof is indicated in figure 1.
  • the dimensions of selected route objects are measured.
  • these route objects are for instance the overhead wire poles 14a...n, or eventually the sleepers carrying the rails, which sleepers are not illustrated in detail in figure 1.
  • the length of the overhead wire poles is measured.
  • the length of these overhead wire poles can be found as cadastral data.
  • the real length of the selected overhead wire poles is known from the cadastral survey data and in many cases these data can be supplied in the form of a data file, so that measurements in the real environment are superfluous.
  • the camera position itself is determined by, for each film frame, deriving said position from the 3D-coordinates and the dimensions of two route objects in this film frame in the virtual 3D-space. So, for each film frame the 3D-positions of two route objects in the virtual 3D-space are taken as starting point for the calculation of the camera position for that film frame in 3D-coordinates in the virtual 3D-space.
  • a virtual 3D-space it is possible to create in this space one or more interactive dynamical objects and to move these objects through the space by means of software which is known as such.
  • an object may have for instance the shape of a three-dimensionally defined vehicle, of which the movements through the three-dimensional space can be controlled, for instance using a joystick connected to the computer or using other suitable means.
  • the creation of three-dimensional interactive objects and the movements thereof through the three-dimensional space is considered to be known to the average practitioner.
  • a suitable software package for this purpose is World Toolkit. To make the ultimate display of the simulated environment as realistic as possible, it is preferred to select the highest possible resolution for generating the objects maintaining thereby a sufficient mobility and manoeuvrability of the object to obtain also in the simulated environment a true pattern of movements.
  • Figure 2 illustrates the result in case in the virtual 3D-space a vehicle is generated as interactive object, which vehicle thereafter as 2D-projection together with the video or film recording is displayed from the same observation point as is assumed in figure 1.
  • the vehicle 24 will then appear in the correct perspective driving in the opposite direction on road 20. If it is assumed that the observer is not moving (the tram or train on the track 10 is standing for instance at a stop) and if it is furthermore assumed that the vehicle moves to the left and will continue on road 22, then after a short while the display as illustrated in figure 3 will be obtained.
  • the environment is not changed because it was assumed that the observer had come to a standstill, but the two-dimensional representation of the vehicle is changed and corresponds with the image which would be obtained in the realistic situation.
  • the "display selection in the film” can be influences; not every projection of an object has to be displayed in the film. Using prior art techniques display can be prevented by providing the projection within "blue colouring".
  • the route objects will be given a "blue colouring” resulting in a transparent projection on the film, so that the original video or film image is maintained for the observer.
  • the signalling light of a consisting signalling pole along the track can be created as an interactive object in the three-dimensional space, whereafter a two-dimensional image thereof can be displayed together with the environment in which the actual signalling pole is present.
  • the result is illustrated in figure 4.
  • the environment is shown from the same standpoint as figure 1 whereby in this case as additional detail the signalling pole 26 is visible at the right-hand side along the track 10.
  • FIG. 5 illustrates very schematically a simulator whereby the system according to the invention can be applied.
  • the simulator comprises means, for instance embodied as a projection screen, onto which the environment in combination with interactive objects can be made visible. It is remarked that of all object which are present in the created 3D-space only the interactive dynamical objects are selected to be made visible together with the environment. All other objects present in the 3D-space are in fact projections of parts in the environment which with all details are present on the video or film recording and are therefore preferably made visible within the scope of this recording.
  • Suitable software for supporting the visualization of the environment together with only the interactive objects is commercially available. As an example the attention is drawn to the software package World Toolkit.
  • the simulator comprises a panel 40 which is preferably embodied similar to the operating panel of the vehicle to be simulated.
  • a foot pedal 42 for influencing the velocity of the vehicle (in the simulator the velocity with which the environment is projected on the screen 30).
  • a second panel 50 is present comprising for instance a control screen 54 as well as operational means for influencing the movement of dynamical objects both with respect to velocity as well as with respect to direction.
  • a joystick 52 is illustrated in figure 5.
  • FIG. 6 illustrates schematically the composing sections of the simulator shown in figure 5.
  • the simulator comprises a video memory 60 in which the video recordings of the environment are stored.
  • the simulator comprises an animation unit 62 for creating the dynamical objects.
  • the output signals of the animation unit will pass a signal converter 64 and are from there applied to an overlay unit 66, in which, using standard overlay techniques, the signals representing the environment, derived from the memory 60, are combined with the signals representing the dynamical objects derived from the unit 62 such that a realistic image of the real situation is obtained. This image is made visible using the unit 68.
  • the simulator in figure 6 furthermore comprises a trainee-control panel 70 by means of which the trainee can supply signals with relation to the desired motional behaviour of the simulated vehicle.
  • Another control panel 72 offers the instructor the possibility to influence the behaviour of the vehicle and finally the panel 74 provides the possibility to influence the behaviour of the dynamical objects.
  • the panels 70 and 72 apply their signals to a central processor 76 which not only controls the video memory 60 but is also in contact with other sections of the simulator, such as the animation unit 62.
  • a synchronisation connection between the converter 64 and the video memory 60 As is indicated in the figure there is furthermore a synchronisation connection between the converter 64 and the video memory 60.

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  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Processing Or Creating Images (AREA)
EP95201063A 1994-04-25 1995-04-25 System zur Simulation des Umfeldes eines Beobachters, der sich durch dieses Umfeld auf einem bestimmten Fahrweg bewegen kann Withdrawn EP0680029A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL9400661 1994-04-25
NL9400661A NL9400661A (nl) 1994-04-25 1994-04-25 Stelsel voor het simuleren van een omgeving voor een waarnemer die zich volgens een bepaald traject door die omgeving kan verplaatsen.

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EP0680029A1 true EP0680029A1 (de) 1995-11-02

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EP95201063A Withdrawn EP0680029A1 (de) 1994-04-25 1995-04-25 System zur Simulation des Umfeldes eines Beobachters, der sich durch dieses Umfeld auf einem bestimmten Fahrweg bewegen kann

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0831444A1 (de) * 1996-09-16 1998-03-25 Oerlikon Contraves AG Verfahren und Anlage zur Erfassung des Verhaltens eines Fahrschülers
DE102012105043A1 (de) * 2012-06-12 2013-12-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Streckenvorschau

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4468688A (en) * 1981-04-10 1984-08-28 Ampex Corporation Controller for system for spatially transforming images
US4827438A (en) * 1987-03-30 1989-05-02 Halliburton Company Method and apparatus related to simulating train responses to actual train operating data
EP0315051A2 (de) * 1982-07-30 1989-05-10 Honeywell Inc. Abbildung in der Perspektive in einem rechnergesteuerten Abbildungssystem
EP0316123A1 (de) * 1987-11-09 1989-05-17 Halliburton Company Vorrichtung und Methode zur Simulation der Funktion und der Steuerung eines Zuges
WO1991011792A1 (de) * 1990-01-26 1991-08-08 Reiner Foerst Verfahren und vorrichtung zur nachbildung von vorwärtsbewegungen durch mischbilder
JPH0413175A (ja) * 1990-05-07 1992-01-17 Japan Radio Co Ltd 列車運転シミュレータ用模擬視界発生装置
EP0473310A2 (de) * 1990-08-31 1992-03-04 Hughes Aircraft Company Erzeugung einer Datenbank für Schrägbilder
JPH04250488A (ja) * 1991-01-28 1992-09-07 Toshiba Corp 列車運転訓練シミュレータ
EP0537945A1 (de) * 1991-10-12 1993-04-21 British Aerospace Public Limited Company Vom Computer erzeugte Bilder mit Überlagerung realer Sehwahrnehmung

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4468688A (en) * 1981-04-10 1984-08-28 Ampex Corporation Controller for system for spatially transforming images
EP0315051A2 (de) * 1982-07-30 1989-05-10 Honeywell Inc. Abbildung in der Perspektive in einem rechnergesteuerten Abbildungssystem
US4827438A (en) * 1987-03-30 1989-05-02 Halliburton Company Method and apparatus related to simulating train responses to actual train operating data
EP0316123A1 (de) * 1987-11-09 1989-05-17 Halliburton Company Vorrichtung und Methode zur Simulation der Funktion und der Steuerung eines Zuges
WO1991011792A1 (de) * 1990-01-26 1991-08-08 Reiner Foerst Verfahren und vorrichtung zur nachbildung von vorwärtsbewegungen durch mischbilder
JPH0413175A (ja) * 1990-05-07 1992-01-17 Japan Radio Co Ltd 列車運転シミュレータ用模擬視界発生装置
EP0473310A2 (de) * 1990-08-31 1992-03-04 Hughes Aircraft Company Erzeugung einer Datenbank für Schrägbilder
JPH04250488A (ja) * 1991-01-28 1992-09-07 Toshiba Corp 列車運転訓練シミュレータ
EP0537945A1 (de) * 1991-10-12 1993-04-21 British Aerospace Public Limited Company Vom Computer erzeugte Bilder mit Überlagerung realer Sehwahrnehmung

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
"le simulateur de conduite de trains pour faire face à l'urgence", RECHERCHE, LA, vol. 20, no. 213, PARIS FR, pages 1047 - 1049 *
GRANT,L.G.: "Simulation techniques for training railway drivers", GEC REVIEW, vol. 1, no. 2, CHELMSFORD, ESSEX GB, pages 107 - 111 *
PATENT ABSTRACTS OF JAPAN vol. 16, no. 163 (P - 1341) 21 April 1992 (1992-04-21) *
PATENT ABSTRACTS OF JAPAN vol. 17, no. 29 (P - 1472) 20 January 1993 (1993-01-20) *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0831444A1 (de) * 1996-09-16 1998-03-25 Oerlikon Contraves AG Verfahren und Anlage zur Erfassung des Verhaltens eines Fahrschülers
DE102012105043A1 (de) * 2012-06-12 2013-12-12 Deutsches Zentrum für Luft- und Raumfahrt e.V. Streckenvorschau
DE102012105043B4 (de) * 2012-06-12 2014-03-27 Deutsches Zentrum für Luft- und Raumfahrt e.V. Streckenvorschau

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